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P I D Control

The document discusses different types of control actions including ON-OFF, proportional, integral, and derivative actions. It provides examples and diagrams to explain how each type of action works and how they can be combined, particularly proportional-integral-derivative (PID) control which combines all three actions to effectively control systems.

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cmc
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21 views27 pages

P I D Control

The document discusses different types of control actions including ON-OFF, proportional, integral, and derivative actions. It provides examples and diagrams to explain how each type of action works and how they can be combined, particularly proportional-integral-derivative (PID) control which combines all three actions to effectively control systems.

Uploaded by

cmc
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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Proportional-Integral-Derivative Action

Different types of control action

1. ON-OFF or two step control action

2. Simple Proportional action

3. Integral Action

4. Derivative action
1
Proportional-Integral-Derivative action

2
Two step control
Consider the simple system shown in slide: 2.
Water level in tank is monitored by float, which makes or
breaks the contacts for the solenoid, which operates the
actuator, for filling the tank.
This is a simple two step controller and can be used for
steady conditions of water in tank.

If however demand varies this is unsuitable to fluctuating


conditions. Here proportional action comes into
picture.

3
Proportional Action
If we replace the simple two step control by a valve,
whose opening varies as the deviation, then this type of
control will be more effective in coping with varying
demand.

Since the amount of valve opening is proportional in the


change in level , this is called proportional action (Ref
sketch next)

4
Proportional Action

5
Simple Proportional Action
Refer slide:7 , the float can take up a variety of positions.
From the lowest point, at which the control valve is full
open , through the desired value , till the highest point,
at which the control valve is full shut, is called as the
proportional band.
Within this band , the opening of the valve is proportional
to the deviation from the desired value

6
Simple proportional Action

7
Proportional Band
The proportional band can be made wide or narrow
simply by shifting the fulcrum away from or towards
the float.
A wide proportional band means that for wide changes in
the level , there is hardly any movement of the valve.
This gives a coarse control. Ie: there is stability, but the
final value varies from the desired value.
This sustained deviation is called as ‘Offset’ and inherent
in simple proportional control.
The wide proportional band increases the offset as shown
in sketch.
8
Proportional Band

9
Proportional band

A narrow proportional band will give a finer control,


but there will be less stability, ie: it will keep
hunting. Ref slide: 9

If the band is too narrow, the valve ceases to have


proportional action, and behaves like an ON-OFF
type control.

10
Integral Action
The drawback of simple proportional
control is the sustained deviation, called
OFFSET
The wider the proportional band, the more
is the Offset.
Tntegral action acts to remove this offset

11
Integral Action

12
Integral Action
Consider the sketch in slide No:12
As long as the float is in desired value , the
actuator remains stationary.
At any other value of the float, the
actuating is either opening or shutting,
depending upon which port is uncovered.
Thus the integral action removes the
Offset. The system will be in equilibrium
when float is in desired value 13
Proportional Plus Integral Action
When proportional action combines with
integral action, the system works more
efficiently.
Proportional action allows variations in demand
to be easily met , since the control action is
proportional to the deviation , and thus the
valve opening increases with an increase in
the deviation
ie: the difference between the measured value
and the desired value.
14
Proportional + Integral Action

15
Proportional + Integral Action
The integral action to remove the offset
And thus the system will only stabilise when
offset has been removed.
The left hand side of the figure shows the
proportional action and the right hand side
shows the integral part.
Both actions are working on the final control
element ie: thecontrolvalve which regulates
filling of tanks.
16
Proportional + Integral Action
The only limitation of this type of control is the
time factor.

The action continues till the desired value is


reached, but it does not do this in the shortest
time interval.

This brings us to the third term of control ie:


DERIVATIVE ACTION
17
Derivative Action

Derivative action is one where the control is


proportional to the rate of change of the
deviation.
This means that the derivative action takes place
where the rate of change of deviation is
higher.
Thus if there is a sudden change in demand ie:
sudden drop in level then derivative action
comes into the picture.
Derivative action will effectively deal with
18
Derivative Action

19
Derivative Action
Considering the sketch in slide No:19

This shows the principle of derivative action,


although it must be borne in mind that
derivative action does not occur alone, but it
is combined with some other action, such as
Proportional + derivative or Proportional +
Integral + Derivative

20
Derivative Action
The piston works inside an oil filled cylinder
called ‘Dashpot’.
The spring tries to pull the dashpot downwards
Consider a fall in level has occurred.

This causes the float to fall , and on the other


side of the fulcrum, the piston will be pulled
upwards.

21
Derivative Action
Since the piston is inside highly viscous oil , the
cylinder is initially dragged upwards, along
with the piston, against the spring force.
This causes the control valve to open fully, thus
coping with the sudden increase in demand.
Since the oil can flow slowly past the piston, the
cylinder now tends to descend, under the
actionof spring till the piston touchesthe top
of cylinder.
22
Derivative Action
Thus the control valve now takes up a position
that is determined by proportional action only
The temporary increase in valve opening was
the derivative action, which was in response
to the sudden drop in level.
Had the drop in level been gradual, the control
valve would have come to the last position
directly

23
Derivative Action
(ie:
with the top of the piston touching the
cylinder) , since oil would have had the time
to leak past the piston to the other side.

24
P + I + D Control
Proportional + Integral + Derivative action
This form of control combines all the
advantages of each of the different actions.

The proportional feature ensures that load


changes can be effectively dealt with , the
integral action seeks to eliminate offset, while
the derivative action comes into play when
there are rapid changes in demand. Ie: sudden
change in level
25
P + I + D Control

26
P + I + D Control
Slide No: 26 sketch describes clearly PID
The tank level can very easily be maintained as
shown in the sketch above.
The proportional part is the left hand side –
Integral action is on right side – Derivative
action on the centre part
All three forms of control act on the final
element ie: Valve which is filling the tank.

27

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